Mapping

Turning range readings into a map: a grid of cells, an inverse sensor model that marks a ray free and its end occupied, log odds so the evidence adds up, and a robot that knows what it has not seen.

Module U8University7 lessons

1. U8.1 A map of cells What a map has to do for a robot, why a grid is the usual answer, and what a cell costs.
2. U8.2 The inverse sensor model One reading is two statements: free all the way along the ray, occupied at the end of it.
3. U8.3 Log odds Why the cells hold a log odds and not a probability, and what the clamp is for.
4. U8.4 Building a grid Eight beams, a known pose, and a map that fills in while the robot drives.
5. U8.5 Ray casting the map The forward model: given a map and a pose, what would the sensor read?
6. U8.6 Frontiers The edge between what is known and what is not, and why a map with holes is still useful.
7. U8.7 Project: map the mat An unknown layout, a grid built from scratch, and a measurement taken off the map.